整理
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@ -1,337 +0,0 @@
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/*
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* RM Serial Driver - 单片机端示例代码（新协议）
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* 适用于 Arduino/STM32
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*
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* 协议格式：
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* - 帧头: 'M' 'R' (0x4D 0x52)
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* - 数据: 根据不同数据类型
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* - CRC16: CRC16-CCITT (初始值 0xFFFF)
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*/
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#include <stdint.h>
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#include <string.h>
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// ==================== 协议定义 ====================
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#define FRAME_HEADER_0 'M' // 0x4D
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#define FRAME_HEADER_1 'R' // 0x52
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#define CRC16_INIT 0xFFFF
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// MCU 发送给上位机的数据
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typedef struct __attribute__((packed))
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{
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uint8_t head[2]; // 帧头 'M' 'R'
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uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
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float q[4]; // 四元数 wxyz 顺序
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float yaw; // 偏航角
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float yaw_vel; // 偏航角速度
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float pitch; // 俯仰角
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float pitch_vel; // 俯仰角速度
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float bullet_speed; // 弹速
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uint16_t bullet_count; // 子弹累计发送次数
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} DataMCU_t;
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typedef struct __attribute__((packed))
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{
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DataMCU_t data;
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uint16_t crc16;
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} PackageMCU_t;
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// 上位机发送给 MCU 的控制命令
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typedef struct __attribute__((packed))
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{
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uint8_t head[2]; // 帧头 'M' 'R'
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uint8_t mode; // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火
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float yaw; // 目标偏航角
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float yaw_vel; // 偏航角速度
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float yaw_acc; // 偏航角加速度
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float pitch; // 目标俯仰角
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float pitch_vel; // 俯仰角速度
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float pitch_acc; // 俯仰角加速度
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float vx; // X 方向速度
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float vy; // Y 方向速度
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float wz; // Z 方向角速度
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uint8_t reserved; // 预留字段
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} DataAI_t;
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typedef struct __attribute__((packed))
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{
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DataAI_t data;
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uint16_t crc16;
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} PackageAI_t;
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// ==================== CRC16 计算 ====================
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static const uint16_t crc16_tab[256] = {
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
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0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
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0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
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0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
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0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
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0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
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0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
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0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
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0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
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0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
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0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
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0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
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0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
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0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
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0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
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0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
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0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
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0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
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};
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uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc)
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{
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while (len--)
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{
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crc = (crc >> 8) ^ crc16_tab[(crc ^ (*buf++)) & 0xFF];
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}
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return crc;
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}
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bool CRC16_Verify(const uint8_t *buf, size_t len)
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{
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if (len < 2)
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return false;
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uint16_t expected = CRC16_Calc(buf, len - 2, CRC16_INIT);
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uint16_t received = buf[len - 2] | (buf[len - 1] << 8);
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return expected == received;
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}
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// ==================== 发送 MCU 数据 ====================
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void send_mcu_data(uint8_t mode, float q[4], float yaw, float yaw_vel,
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float pitch, float pitch_vel, float bullet_speed, uint16_t bullet_count)
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{
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PackageMCU_t package;
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// 设置帧头
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package.data.head[0] = FRAME_HEADER_0; // 'M'
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package.data.head[1] = FRAME_HEADER_1; // 'R'
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// 填充数据
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package.data.mode = mode;
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memcpy(package.data.q, q, sizeof(float) * 4);
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package.data.yaw = yaw;
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package.data.yaw_vel = yaw_vel;
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package.data.pitch = pitch;
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package.data.pitch_vel = pitch_vel;
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package.data.bullet_speed = bullet_speed;
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package.data.bullet_count = bullet_count;
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// 计算 CRC（从帧头开始）
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package.crc16 = CRC16_Calc((uint8_t*)&package.data, sizeof(DataMCU_t), CRC16_INIT);
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// 发送
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Serial.write((uint8_t*)&package, sizeof(PackageMCU_t));
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}
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// ==================== 接收 AI 控制命令 ====================
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uint8_t rx_buffer[256];
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uint16_t rx_index = 0;
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void receive_ai_command()
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{
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while (Serial.available())
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{
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uint8_t byte = Serial.read();
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// 查找帧头 'M'
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if (rx_index == 0 && byte != FRAME_HEADER_0)
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{
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continue;
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}
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rx_buffer[rx_index++] = byte;
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// 防止缓冲区溢出
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if (rx_index >= sizeof(rx_buffer))
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{
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rx_index = 0;
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continue;
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}
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// 检查是否接收到完整的包头
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if (rx_index >= 2)
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{
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// 验证第二个字节是否为 'R'
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if (rx_buffer[1] != FRAME_HEADER_1)
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{
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// 帧头不完整，重新开始
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rx_index = 0;
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continue;
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}
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}
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// 检查是否接收完整
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if (rx_index >= sizeof(PackageAI_t))
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{
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// 验证 CRC
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if (CRC16_Verify(rx_buffer, sizeof(PackageAI_t)))
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{
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// CRC 校验通过，处理数据包
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PackageAI_t *package = (PackageAI_t*)rx_buffer;
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process_ai_command(&package->data);
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}
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else
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{
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// CRC 校验失败
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Serial.println("CRC Error!");
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}
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// 重置接收缓冲区
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rx_index = 0;
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}
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}
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}
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void process_ai_command(DataAI_t *data)
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{
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// 处理 AI 控制命令
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switch (data->mode)
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{
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case 0: // 不控制
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// 停止控制
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break;
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case 1: // 控制云台但不开火
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// 控制云台到目标位置
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control_gimbal(data->yaw, data->pitch, data->yaw_vel, data->pitch_vel);
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break;
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case 2: // 控制云台且开火
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// 控制云台并开火
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control_gimbal(data->yaw, data->pitch, data->yaw_vel, data->pitch_vel);
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fire();
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break;
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}
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// 控制底盘
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control_chassis(data->vx, data->vy, data->wz);
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}
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// ==================== Arduino 主程序 ====================
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void setup()
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{
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Serial.begin(115200);
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while (!Serial) {
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delay(10);
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}
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Serial.println("RM Serial Driver - MCU Ready!");
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}
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void loop()
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{
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// 接收 AI 控制命令
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receive_ai_command();
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// 定时发送 MCU 数据（每 10ms）
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static unsigned long last_send = 0;
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if (millis() - last_send >= 10)
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{
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// 读取传感器数据
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uint8_t mode = get_current_mode();
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float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // 四元数
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get_quaternion(q);
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float yaw = get_yaw();
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float yaw_vel = get_yaw_velocity();
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float pitch = get_pitch();
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float pitch_vel = get_pitch_velocity();
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float bullet_speed = get_bullet_speed();
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uint16_t bullet_count = get_bullet_count();
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// 发送数据
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send_mcu_data(mode, q, yaw, yaw_vel, pitch, pitch_vel, bullet_speed, bullet_count);
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last_send = millis();
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}
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}
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// ==================== 辅助函数（需要根据实际硬件实现）====================
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uint8_t get_current_mode()
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{
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// 返回当前模式：0=空闲, 1=自瞄, 2=小符, 3=大符
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return 1; // 示例：自瞄模式
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}
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void get_quaternion(float q[4])
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{
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// 从 IMU 读取四元数
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// q[0] = w, q[1] = x, q[2] = y, q[3] = z
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}
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float get_yaw()
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{
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// 读取偏航角
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return 0.0f;
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}
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float get_yaw_velocity()
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{
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// 读取偏航角速度
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return 0.0f;
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}
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float get_pitch()
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{
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// 读取俯仰角
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return 0.0f;
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}
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float get_pitch_velocity()
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{
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// 读取俯仰角速度
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return 0.0f;
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}
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float get_bullet_speed()
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{
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// 读取弹速
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return 15.0f;
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}
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uint16_t get_bullet_count()
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{
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// 返回子弹累计发送次数
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static uint16_t count = 0;
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return count++;
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}
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void control_gimbal(float yaw, float pitch, float yaw_vel, float pitch_vel)
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{
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// 控制云台到目标位置
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// 实现 PID 控制等
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}
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void control_chassis(float vx, float vy, float wz)
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{
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// 控制底盘运动
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}
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void fire()
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{
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// 开火
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}
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@ -1,161 +0,0 @@
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#!/usr/bin/env python3
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"""
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串口数据调试工具
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用于查看原始串口数据，帮助排查 CRC 校验失败问题
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"""
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import serial
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import sys
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def bytes_to_hex(data):
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"""将字节转换为十六进制字符串"""
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return ' '.join(f'{b:02X}' for b in data)
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def main():
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if len(sys.argv) < 2:
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print("用法: python3 debug_serial.py <串口设备> [波特率]")
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print("示例: python3 debug_serial.py /dev/ttyUSB0 115200")
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sys.exit(1)
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device = sys.argv[1]
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baudrate = int(sys.argv[2]) if len(sys.argv) > 2 else 115200
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print(f"打开串口: {device} @ {baudrate}")
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print("按 Ctrl+C 退出\n")
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try:
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ser = serial.Serial(device, baudrate, timeout=1)
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buffer = bytearray()
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packet_count = 0
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while True:
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if ser.in_waiting > 0:
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data = ser.read(ser.in_waiting)
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buffer.extend(data)
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print(f"接收 {len(data)} 字节: {bytes_to_hex(data)}")
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# 查找帧头 (0xC4 或 0xA8)
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while len(buffer) > 0:
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# 查找 MCU 帧头 (0xC4)
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if 0xC4 in buffer:
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idx = buffer.index(0xC4)
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if idx > 0:
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print(f" 丢弃 {idx} 字节垃圾数据: {bytes_to_hex(buffer[:idx])}")
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buffer = buffer[idx:]
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# MCU 数据包大小: 1(ID) + 28(Data) + 2(CRC) = 31 字节
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if len(buffer) >= 31:
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packet = buffer[:31]
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buffer = buffer[31:]
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packet_count += 1
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print(f"\n[数据包 #{packet_count}] MCU (0xC4) - 31 字节:")
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print(f" 完整数据: {bytes_to_hex(packet)}")
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print(f" ID: 0x{packet[0]:02X}")
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print(f" 数据: {bytes_to_hex(packet[1:29])}")
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print(f" CRC: 0x{packet[29]:02X}{packet[30]:02X}")
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# 计算 CRC
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crc = calculate_crc16(packet[1:29])
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received_crc = packet[29] | (packet[30] << 8)
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if crc == received_crc:
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print(f" ✓ CRC 校验通过")
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else:
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print(f" ✗ CRC 校验失败: 计算值=0x{crc:04X}, 接收值=0x{received_crc:04X}")
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print()
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else:
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break
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# 查找裁判系统帧头 (0xA8)
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elif 0xA8 in buffer:
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idx = buffer.index(0xA8)
|
||||
if idx > 0:
|
||||
print(f" 丢弃 {idx} 字节垃圾数据: {bytes_to_hex(buffer[:idx])}")
|
||||
buffer = buffer[idx:]
|
||||
|
||||
# 裁判系统数据包大小: 1(ID) + 5(Data) + 2(CRC) = 8 字节
|
||||
if len(buffer) >= 8:
|
||||
packet = buffer[:8]
|
||||
buffer = buffer[8:]
|
||||
|
||||
packet_count += 1
|
||||
print(f"\n[数据包 #{packet_count}] 裁判系统 (0xA8) - 8 字节:")
|
||||
print(f" 完整数据: {bytes_to_hex(packet)}")
|
||||
print(f" ID: 0x{packet[0]:02X}")
|
||||
print(f" 数据: {bytes_to_hex(packet[1:6])}")
|
||||
print(f" CRC: 0x{packet[6]:02X}{packet[7]:02X}")
|
||||
|
||||
# 计算 CRC
|
||||
crc = calculate_crc16(packet[1:6])
|
||||
received_crc = packet[6] | (packet[7] << 8)
|
||||
|
||||
if crc == received_crc:
|
||||
print(f" ✓ CRC 校验通过")
|
||||
else:
|
||||
print(f" ✗ CRC 校验失败: 计算值=0x{crc:04X}, 接收值=0x{received_crc:04X}")
|
||||
print()
|
||||
else:
|
||||
break
|
||||
else:
|
||||
# 没有找到帧头，清空缓冲区
|
||||
if len(buffer) > 0:
|
||||
print(f" 未找到帧头，丢弃 {len(buffer)} 字节: {bytes_to_hex(buffer)}")
|
||||
buffer.clear()
|
||||
break
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n\n程序退出")
|
||||
except Exception as e:
|
||||
print(f"错误: {e}")
|
||||
finally:
|
||||
if 'ser' in locals() and ser.is_open:
|
||||
ser.close()
|
||||
|
||||
def calculate_crc16(data):
|
||||
"""计算 CRC16-CCITT"""
|
||||
crc16_tab = [
|
||||
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
|
||||
0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
|
||||
0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
|
||||
0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
|
||||
0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
|
||||
0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
|
||||
0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
|
||||
0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
|
||||
0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
|
||||
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
|
||||
0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
|
||||
0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
|
||||
0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
|
||||
0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
|
||||
0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
|
||||
0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
|
||||
0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
|
||||
0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
|
||||
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
|
||||
0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
|
||||
0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
|
||||
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
|
||||
b58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
|
||||
0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
|
||||
0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
|
||||
0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
|
||||
0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
|
||||
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
|
||||
0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
|
||||
0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
|
||||
0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
|
||||
0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
|
||||
]
|
||||
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc = (crc >> 8) ^ crc16_tab[(crc ^ byte) & 0xFF]
|
||||
|
||||
return crc
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Loading…
Reference in New Issue
Block a user